version: 66.03
glider: 139
mission: 3
dive: 203
start: 8 7 108 19 32 53
data:
$ID,139
$MISSION,3
$DIVE,203
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,210
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51851
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,543.09418
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1274837.8
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2795
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2079
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,205
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2664
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-15.422788
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.25
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043412433
$SEABIRD_T_H,0.00063263031
$SEABIRD_T_I,2.551855e-05
$SEABIRD_T_J,2.8651004e-06
$SEABIRD_C_G,-9.8929949
$SEABIRD_C_H,1.093717
$SEABIRD_C_I,-0.0013470891
$SEABIRD_C_J,0.00018459925
$GPS1,191407,2109.393,-15759.401,42,1.3,54,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-70.2
$GPS2,193203,2109.430,-15759.859,11,1.9,11,9.8
$SPEED_LIMITS,0.124,0.255
$TGT_NAME,WPT2
$TGT_LATLONG,2102.306,-15746.945
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.253,-0.028
$KALMAN_X,-166435.6,-21.3,-608.1,154900.5,-2063.9
$KALMAN_Y,-80519.2,-44.9,-0.1,67154.5,-308.5
$MHEAD_RNG_PITCHd_Wd,86.6,25929,-11.9,-7.143
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.96,-175.2,0.0,0.0,0,67,0.00,0.00,-43.75,0.000,2,0.000,0.000,426,2093,2569
$GC,69,-0.96,-175.2,3.1,-2.8,8,105,12.05,2.08,-17.15,0.000,4,0.152,0.084,2574,844,3380
$GC,146,-0.96,-175.2,15.3,-12.3,21,152,0.00,1.98,0.00,0.000,6,0.000,0.019,2575,2088,3381
$GC,265,-0.96,-175.2,30.1,-11.9,42,269,0.00,2.30,0.00,0.000,4,0.000,0.031,2575,3467,3382
$GC,284,-0.96,-175.2,32.3,-12.4,43,287,0.00,2.00,0.00,0.000,6,0.000,0.020,2575,2237,3382
$GC,614,-0.96,-175.2,71.9,-11.5,74,618,0.00,2.33,0.00,0.000,4,0.000,0.034,2574,844,3382
$GC,676,-0.96,-175.2,78.7,-11.6,79,679,0.00,1.95,0.00,0.000,6,0.000,0.018,2575,2078,3382
$GC,1006,-0.96,-175.2,112.3,-9.8,110,1009,0.00,2.08,0.00,0.000,4,0.000,0.034,2574,844,3382
$GC,1043,-0.96,-175.2,116.2,-9.4,113,1051,0.00,2.00,0.00,0.000,6,0.000,0.018,2575,2079,3383
$GC,1372,-0.96,-175.2,148.0,-9.0,144,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2083,3383
$GC,1686,-0.96,-175.2,174.9,-8.1,174,1690,0.00,2.08,0.00,0.000,4,0.000,0.035,2575,836,3383
$GC,1731,-0.96,-175.2,178.5,-7.9,178,1735,0.00,1.98,0.00,0.000,6,0.000,0.019,2575,2078,3383
$GC,2069,-0.96,-175.2,207.6,-9.2,206,2073,0.00,2.08,0.00,0.000,4,0.000,0.035,2574,844,3383
$GC,2101,-0.96,-175.2,210.6,-9.0,207,2105,0.00,2.00,0.00,0.000,6,0.000,0.019,2575,2076,3383
$GC,2423,-0.96,-175.2,236.8,-8.3,223,2426,0.00,2.08,0.00,0.000,4,0.000,0.035,2574,840,3383
$GC,2445,-0.96,-175.2,238.7,-8.7,224,2448,0.00,2.00,0.00,0.000,6,0.000,0.020,2575,2087,3383
$GC,2777,-0.96,-175.2,271.2,-9.9,240,2780,0.00,2.10,0.00,0.000,4,0.000,0.035,2574,838,3383
$GC,2810,-0.96,-175.2,274.3,-9.2,241,2814,0.00,2.03,0.00,0.000,6,0.000,0.021,2575,2078,3383
$GC,3131,-0.96,-175.2,297.1,-6.6,257,3135,0.00,2.08,0.00,0.000,4,0.000,0.036,2574,842,3382
$GC,3169,-0.96,-175.2,299.9,-7.0,258,3176,0.00,2.03,0.00,0.000,6,0.000,0.022,2575,2078,3382
$GC,3501,-0.96,-175.2,321.2,-6.0,267,3505,0.00,2.35,0.00,0.000,4,0.000,0.037,2575,3471,3380
$GC,3523,-0.96,-175.2,322.3,-4.9,267,3526,0.00,2.00,0.00,0.000,6,0.000,0.023,2575,2241,3381
$GC,3865,-0.96,-175.2,342.3,-6.6,276,3869,0.00,2.38,0.00,0.000,4,0.000,0.038,2574,841,3379
$GC,3930,-0.96,-175.2,347.1,-7.2,277,3935,0.00,2.05,0.00,0.000,6,0.000,0.024,2575,2074,3378
$GC,4274,-0.96,-175.2,366.7,-5.9,286,4278,0.00,2.38,0.00,0.000,4,0.000,0.039,2575,3467,3376
$GC,4301,-0.96,-175.2,368.6,-7.1,286,4305,0.00,2.05,0.00,0.000,6,0.000,0.032,2575,2244,3376
$GC,4637,-0.96,-175.2,390.3,-6.9,295,4642,0.00,2.38,0.00,0.000,4,0.000,0.039,2575,847,3374
$GC,4737,-0.96,-175.2,397.9,-7.7,297,4742,0.00,2.05,0.00,0.000,6,0.000,0.025,2575,2076,3373
$GC,5050,-0.96,-175.2,416.0,-5.2,305,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2078,3371
$GC,5375,-0.96,-175.2,433.0,-6.0,313,5378,0.00,2.10,0.00,0.000,4,0.000,0.042,2574,849,3369
$GC,5413,-0.96,-175.2,435.2,-6.2,313,5420,0.00,2.05,0.00,0.000,6,0.000,0.038,2575,2080,3369
$STATE,5661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5661,begin apogee
$GC,5666,-0.31,0.0,450.6,6.5,320,5810,0.70,0.00,141.12,0.881,6,0.174,0.000,2729,2084,2664
$STATE,5811,end apogee,CONTROL_FINISHED_OK
$STATE,5811,begin climb
$GC,5813,0.96,175.2,458.5,0.0,323,5967,1.20,2.20,144.52,0.860,4,0.037,0.044,3010,840,1947
$GC,6073,0.96,175.2,448.9,12.5,329,6077,0.00,2.10,0.00,0.000,6,0.000,0.028,3011,2074,1938
$GC,6391,0.96,175.2,417.6,8.5,337,6395,0.00,2.42,0.00,0.000,4,0.000,0.043,3011,3473,1936
$GC,6452,0.96,175.2,412.6,8.0,338,6456,0.00,2.08,0.00,0.000,6,0.000,0.064,3010,2258,1936
$GC,6800,0.96,175.2,386.7,7.5,347,6804,0.00,2.45,0.00,0.000,4,0.000,0.077,3011,846,1933
$GC,6910,0.96,175.2,377.4,9.0,349,6915,0.00,2.10,0.00,0.000,6,0.000,0.065,3011,2080,1931
$GC,7253,0.96,175.2,350.4,7.4,358,7257,0.00,2.42,0.00,0.000,4,0.000,0.042,3011,3480,1931
$GC,7313,0.96,175.2,345.4,8.1,359,7317,0.00,2.10,0.00,0.000,6,0.000,0.035,3011,2250,1930
$GC,7661,0.96,175.2,316.1,8.9,368,7665,0.00,2.42,0.00,0.000,4,0.000,0.051,3010,847,1929
$GC,7884,0.98,194.1,299.5,6.6,373,7903,0.00,2.10,13.82,0.756,6,0.000,0.048,3011,2082,1871
$GC,8231,0.98,194.1,270.3,9.6,390,8234,0.00,2.12,0.00,0.000,4,0.000,0.041,3010,848,1868
$GC,8263,0.98,194.1,267.4,8.6,391,8268,0.00,2.08,0.00,0.000,6,0.000,0.027,3011,2079,1866
$GC,8585,1.03,231.4,245.9,6.1,407,8627,0.00,2.47,33.50,0.746,4,0.000,0.053,3011,3471,1719
$GC,8688,1.03,231.4,238.8,7.4,411,8695,0.00,2.08,0.00,0.000,6,0.000,0.064,3011,2251,1718
$GC,9004,1.03,231.4,213.9,8.4,427,9008,0.00,2.40,0.00,0.000,4,0.000,0.039,3010,846,1715
$GC,9089,1.03,231.4,205.6,9.9,431,9092,0.00,2.05,0.00,0.000,6,0.000,0.065,3011,2084,1712
$GC,9419,1.03,231.4,178.2,7.5,459,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2088,1712
$GC,9737,1.07,263.4,159.6,6.3,489,9767,0.00,0.00,28.00,0.650,6,0.000,0.000,3011,2088,1589
$GC,10086,1.07,263.4,133.4,7.6,522,10090,0.00,2.12,0.00,0.000,4,0.000,0.056,3010,845,1585
$GC,10121,1.07,263.4,130.4,8.3,525,10124,0.00,2.03,0.00,0.000,6,0.000,0.039,3011,2086,1583
$GC,10450,1.07,263.4,104.5,7.5,556,10452,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2091,1583
$GC,10770,1.24,406.0,89.4,3.3,586,10897,0.20,2.15,119.82,0.588,4,0.036,0.044,3080,844,1006
$GC,11026,1.24,406.0,63.2,13.4,609,11033,0.00,2.03,0.00,0.000,6,0.000,0.038,3080,2093,1000
$GC,11353,1.24,406.0,22.7,11.0,645,11359,0.00,2.12,0.00,0.000,4,0.000,0.074,3080,842,999
$GC,11479,1.24,406.0,7.5,12.9,667,11486,0.00,1.98,0.00,0.000,6,0.000,0.019,3080,2086,998
$STATE,11514,end climb,SURFACE_DEPTH_REACHED
$STATE,11514,begin surface coast
$FINISH,1.2,1.023091
$STATE,11536,end surface coast,CONTROL_FINISHED_OK
$STATE,11536,begin surface
$SM_CCo,11556,108.28,0.518,0,0,450,543.09
$SM_GC,1.66,0.00,0.00,108.28,0.000,0.000,0.518,433,2091,450,-10.86,0.31,543.09
$IRIDIUM_FIX,2059.45,-15759.05,011197,191948
$TT8_MAMPS,0.029146
$HUMID,1881
$INTERNAL_PRESSURE,8.60979
$TCM_TEMP,23.10
$XPDR_PINGS,690
$24V_AH,23.4,58.788
$10V_AH,10.2,33.834
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.575,106.925,480.800,108.275,0.000,131.870,230.717,325.136,172.500,0.000,0.000,12.514,1215.045,8381.895,627.217,1608.171,896.249,33.371,1450.913,0.000,1594.949,0.000,0.471
$DEVICE_MAMPS,174.109,84.370,881.283,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.333,437.357,742.099,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34847,677
$CAP_FILE_SIZE,102533,12
$CFSIZE,260165632,247357440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,070808,224832,2108.849,-15759.083,37,1.6,37,9.8